/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/

#include "Aria.h"
#include "ArKeyHandler.h"
#include "ArTCMCompassDirect.h"


int main(int argc, char **argv)
{
  Aria::init();
  ArTCMCompassDirect compass("/dev/ttyS0");
  Aria::addExitCallback(new ArFunctorC<ArTCMCompassDirect>(&compass, &ArTCMCompassDirect::commandStopCalibration), 1);
  if(!compass.blockingConnect()) 
  {
    puts("Error connecting to compass!");
    return -1;
  }
  printf("Calibrating compass. Rotate it slowly, making two full revolutions or more, then exit.\n");
  compass.commandUserCalibration();
  while(true)
    ArUtil::sleep(1000);
}
